NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 109 * Raw log
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• Previous call tries 2 • 38.73 of 506.00 AH used of 24V (92.35% remains)
• Surface angle -63.4 deg, depth 1.13 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 1081.5, SM_CC=430)
• GPS1 time: 16 s
• GPS2 time: 2 s • Transponder ping count: 0
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
11 end surface: CONTROL_FINISHED_OK
11 begin dive
18.73 - - - 125.26 VBD -1.18 - - 178.56 - - - 2298.88 - -77.86 75.33 0.005 2541.22 - - - - - - - - - - 15.57
127.49 3.21 -3.07 15 228.62 -1.18 16.71 0.228 2227.75 122.6 - - 2298.62 - -77.86 9.45 0.007 3209.62 70.7 -5.376 - - - - - - 15.66 - 15.64
414.34 53.67 -12.45 58 420.79 no move -1.18 - - 2228.00 - - - 2298.94 - -77.86 - - 3214.00 - - - - - - - - - - -
606.64 74.38 -10.36 96 625.69 roll -1.18 - - 2228.50 - 3.09 0.062 1142.56 -374.2 -77.86 - - 3214.09 - - - - - - - - - 15.94 -
681.96 82.33 -11.01 108 700.59 roll -1.18 - - 2228.56 - 2.81 0.025 2278.50 404.2 -77.86 - - 3214.44 - - - - - - - - - 15.96 -
886.41 102.97 -8.65 143 904.33 roll -1.18 - - 2227.50 - 2.97 0.081 3354.50 362.3 -77.86 - - 3216.16 - - - - - - - - - 15.96 -
944.76 108.36 -9.07 152 962.61 roll -1.18 - - 2228.69 - 2.70 0.019 2184.81 -433.2 -77.86 - - 3215.31 - - - - - - - - - 15.98 -
1268.42 133.53 -7.39 184 1272.45 no move -1.18 - - 2228.38 - - - 2182.75 - -77.86 - - 3214.50 - - - - - - - - - - -
1578.48 155.86 -6.74 215 1595.59 roll -1.18 - - 2227.62 - 2.76 0.067 1142.81 -376.8 -77.86 - - 3216.47 - - - - - - - - - 15.97 -
1641.75 160.48 -7.34 225 1658.88 roll -1.18 - - 2227.75 - 2.77 0.025 2280.81 410.8 -77.86 - - 3215.38 - - - - - - - - - 16.03 -
1964.68 182.19 -7.13 257 1982.61 done -1.18 - - 2227.44 - 3.00 0.082 3353.81 357.7 -77.86 - - 3215.22 - - - - - - - - - 16.02 -
2098.78 192.88 -8.07 281 2116.32 roll -1.18 - - 2228.25 - 2.70 0.020 2186.69 -432.3 -77.86 - - 3215.88 - - - - - - - - - 16.03 -
2422.28 216.07 -7.46 313 2426.34 no move -1.18 - - 2227.88 - - - 2185.06 - -77.86 - - 3214.50 - - - - - - - - - - -
2732.34 239.53 -7.61 344 2751.71 roll -1.18 - - 2227.94 - 3.24 0.078 3353.25 360.6 -77.86 - - 3214.12 - - - - - - - - - 16.00 -
2867.93 251.66 -9.03 368 2885.24 roll -1.18 - - 2226.44 - 2.69 0.020 2189.88 -432.5 -77.86 - - 3214.84 - - - - - - - - - 16.06 -
3191.07 276.72 -7.50 400 3210.43 roll -1.18 - - 2227.44 - 3.21 0.079 3355.00 363.0 -77.86 - - 3211.12 - - - - - - - - - 16.07 -
3250.91 281.78 -8.45 409 3268.96 roll -1.18 - - 2227.56 - 2.71 0.020 2188.75 -430.4 -77.86 - - 3214.12 - - - - - - - - - 16.07 -
3574.81 305.97 -7.32 441 3578.87 no move -1.18 - - 2228.25 - - - 2187.50 - -77.86 - - 3210.81 - - - - - - - - - - -
3884.86 328.36 -7.08 472 3904.21 roll -1.18 - - 2227.81 - 3.23 0.080 3353.44 361.0 -77.86 - - 3211.78 - - - - - - - - - 16.08 -
3944.68 333.23 -7.62 481 3962.72 roll -1.18 - - 2228.25 - 2.70 0.020 2192.06 -430.1 -77.86 - - 3210.38 - - - - - - - - - 16.07 -
4268.55 356.77 -6.91 513 4272.61 no move -1.18 - - 2228.06 - - - 2190.81 - -77.86 - - 3209.31 - - - - - - - - - - -
4578.60 378.16 -7.13 544 4582.66 no move -1.18 - - 2227.62 - - - 2191.06 - -77.86 - - 3207.81 - - - - - - - - - - -
4888.66 400.72 -7.34 575 4909.40 roll -1.18 - - 2225.94 - 3.28 0.081 3354.19 354.6 -77.86 - - 3209.75 - - - - - - - - - 16.08 -
4950.60 405.70 -7.92 584 4967.53 roll -1.18 - - 2228.06 - 2.69 0.021 2192.50 -431.9 -77.86 - - 3206.91 - - - - - - - - - 16.08 -
5273.39 429.75 -7.49 616 5277.45 no move -1.18 - - 2228.25 - - - 2191.62 - -77.86 - - 3205.34 - - - - - - - - - - -
5583.44 450.76 -6.41 647 5587.49 no move -1.18 - - 2228.00 - - - 2191.50 - -77.86 - - 3204.91 - - - - - - - - - - -
5893.49 470.31 -6.31 678 5914.26 roll -1.18 - - 2227.31 - 3.28 0.083 3353.44 354.3 -77.86 - - 3203.59 - - - - - - - - - 16.05 -
5979.74 476.67 -7.53 692 5997.79 roll -1.18 - - 2228.25 - 2.69 0.021 2192.88 -431.4 -77.86 - - 3203.94 - - - - - - - - - 16.09 -
6303.64 499.11 -7.55 724 6307.70 no move -1.18 - - 2228.31 - - - 2191.19 - -77.86 - - 3202.53 - - - - - - - - - - -
6613.70 523.04 -7.95 755 6634.69 roll -1.18 - - 2227.62 - 3.27 0.083 3353.81 355.5 -77.86 - - 3201.19 - - - - - - - - - 16.09 -
6676.00 528.39 -8.53 764 6693.33 roll -1.18 - - 2228.31 - 2.68 0.021 2193.81 -432.8 -77.86 - - 3201.81 - - - - - - - - - 16.09 -
6999.17 553.50 -7.70 796 7003.23 no move -1.18 - - 2227.75 - - - 2192.94 - -77.86 - - 3201.41 - - - - - - - - - - -
7309.23 576.18 -6.72 827 7313.29 no move -1.18 - - 2227.81 - - - 2192.69 - -77.86 - - 3199.69 - - - - - - - - - - -
7619.28 596.62 -6.33 858 7640.04 roll -1.18 - - 2227.75 - 3.26 0.084 3353.31 356.0 -77.86 - - 3199.75 - - - - - - - - - 16.09 -
7651.23 598.78 -6.48 861 7668.56 roll -1.18 - - 2228.69 - 2.69 0.022 2194.50 -430.8 -77.86 - - 3200.34 - - - - - - - - - 16.09 -
7974.41 618.90 -6.06 893 7978.47 no move -1.18 - - 2228.00 - - - 2193.12 - -77.86 - - 3199.69 - - - - - - - - - - -
8284.46 637.37 -6.21 924 8305.23 roll -1.18 - - 2228.19 - 3.27 0.084 3352.56 354.6 -77.86 - - 3197.91 - - - - - - - - - 16.07 -
8320.69 639.76 -6.33 928 8338.34 roll -1.18 - - 2228.31 - 2.69 0.022 2194.19 -430.6 -77.86 - - 3199.41 - - - - - - - - - 16.09 -
8644.20 660.35 -6.60 960 8648.26 no move -1.18 - - 2227.44 - - - 2193.12 - -77.86 - - 3198.19 - - - - - - - - - - -
8954.25 680.08 -6.41 991 8975.26 roll -1.18 - - 2227.50 - 3.27 0.085 3353.00 354.7 -77.86 - - 3197.53 - - - - - - - - - 16.07 -
9000.84 683.56 -6.75 997 9018.52 roll -1.18 - - 2227.94 - 2.68 0.022 2194.88 -432.1 -77.86 - - 3198.03 - - - - - - - - - 16.09 -
9324.36 704.49 -6.26 1029 9328.42 no move -1.18 - - 2228.00 - - - 2193.94 - -77.86 - - 3197.62 - - - - - - - - - - -
9634.42 723.00 -5.78 1060 9655.27 roll -1.18 - - 2228.12 - 3.28 0.085 3351.69 353.0 -77.86 - - 3196.47 - - - - - - - - - 16.08 -
9676.46 725.51 -6.31 1065 9693.39 roll -1.18 - - 2228.25 - 2.68 0.022 2194.25 -431.9 -77.86 - - 3197.72 - - - - - - - - - 16.09 -
9999.23 744.39 -6.01 1097 10003.29 no move -1.18 - - 2227.81 - - - 2192.88 - -77.86 - - 3195.84 - - - - - - - - - - -
10309.29 762.73 -6.18 1128 10330.06 roll -1.18 - - 2228.12 - 3.28 0.085 3352.25 353.5 -77.86 - - 3195.94 - - - - - - - - - 16.06 -
10385.53 767.92 -6.84 1140 10403.18 roll -1.18 - - 2228.00 - 2.68 0.022 2194.69 -431.9 -77.86 - - 3197.72 - - - - - - - - - 16.07 -
10709.01 788.53 -6.53 1172 10713.07 no move -1.18 - - 2227.75 - - - 2192.81 - -77.86 - - 3194.94 - - - - - - - - - - -
11019.04 808.74 -6.91 1203 11023.09 no move -1.18 - - 2227.88 - - - 2192.69 - -77.86 - - 3194.56 - - - - - - - - - - -
11329.06 828.30 -6.16 1234 11333.12 no move -1.18 - - 2228.12 - - - 2192.62 - -77.86 - - 3194.00 - - - - - - - - - - -
11639.10 846.31 -5.64 1265 11643.17 no move -1.18 - - 2227.94 - - - 2192.75 - -77.86 - - 3194.00 - - - - - - - - - - -
11949.16 862.91 -5.23 1296 11953.22 no move -1.18 - - 2227.62 - - - 2192.81 - -77.86 - - 3193.66 - - - - - - - - - - -
12259.21 878.87 -5.36 1327 12263.28 no move -1.18 - - 2227.56 - - - 2192.81 - -77.86 - - 3193.22 - - - - - - - - - - -
12569.27 895.37 -5.31 1358 12573.34 no move -1.18 - - 2228.00 - - - 2192.69 - -77.86 - - 3193.53 - - - - - - - - - - -
12879.33 912.32 -5.48 1389 12883.39 no move -1.18 - - 2227.69 - - - 2192.88 - -77.86 - - 3193.69 - - - - - - - - - - -
13189.39 929.71 -5.42 1420 13193.45 no move -1.18 - - 2227.69 - - - 2192.50 - -77.86 - - 3192.91 - - - - - - - - - - -
13499.44 947.80 -6.04 1451 13520.61 roll -1.18 - - 2227.81 - 3.32 0.087 3352.38 349.4 -77.86 - - 3192.59 - - - - - - - - - 16.04 -
13556.07 951.52 -6.87 1459 13574.54 roll -1.18 - - 2228.19 - 2.70 0.023 2199.75 -426.9 -77.86 - - 3192.94 - - - - - - - - - 16.07 -
13880.39 970.83 -5.90 1491 13884.45 no move -1.18 - - 2227.50 - - - 2199.69 - -77.86 - - 3192.72 - - - - - - - - - - -
14190.44 988.68 -5.66 1522 14194.50 no move -1.18 - - 2227.56 - - - 2199.19 - -77.86 - - 3191.91 - - - - - - - - - - -
14220 end dive: TARGET_DEPTH_EXCEEDED
14220 begin apogee
14225.03 990.34 -5.71 1525 14325.01 -0.31 1.54 0.139 2440.12 138.0 0.13 0.179 2190.62 -65.9 - 59.88 2.480 2889.94 -5.0 0.334 - - - - - - 15.95 15.62 11.77
14330 end apogee: CONTROL_FINISHED_OK
14330 begin climb
14333.15 991.90 - 1532 14441.16 1.18 2.53 0.099 2805.38 144.4 - - 2190.06 - 77.86 65.25 2.429 2573.94 -4.8 0.328 - - - - - - 15.71 - 12.47
14747.53 968.15 6.37 1570 14751.58 VBD 1.28 - - 2804.62 - - - 2189.69 - 77.86 - - 2562.66 - - - - - - - - - - -
15057.94 948.78 5.92 1601 15063.72 1.41 0.34 0.074 2868.81 188.8 - - 2188.69 - 77.86 - - 2563.91 - - - - - - - - 15.89 - -
15369.97 926.20 7.53 1632 15374.03 VBD 1.44 - - 2870.19 - - - 2189.62 - 77.86 - - 2559.28 - - - - - - - - - - -
15680.28 903.44 7.24 1663 15700.29 done 1.49 - - 2869.75 - 3.35 0.093 3351.31 346.8 77.86 - - 2558.59 - - - - - - - - - 15.98 -
15750.77 897.44 8.61 1674 15768.84 done 1.49 - - 2870.12 - 2.71 0.025 2203.19 -423.7 77.86 - - 2560.31 - - - - - - - - - 16.00 -
16074.68 871.58 8.28 1706 16078.75 VBD 1.49 - - 2870.81 - - - 2202.06 - 77.86 - - 2557.97 - - - - - - - - - - -
16384.74 847.78 7.58 1737 16388.80 VBD 1.49 - - 2870.38 - - - 2202.50 - 77.86 - - 2557.38 - - - - - - - - - - -
16694.79 824.20 8.14 1768 16712.54 done 1.49 - - 2869.56 - 2.87 0.083 1145.19 -368.4 77.86 - - 2559.94 - - - - - - - - - 16.03 -
16773.02 818.45 7.77 1781 16791.49 done 1.49 - - 2870.50 - 2.83 0.033 2275.12 399.3 77.86 - - 2558.41 - - - - - - - - - 16.04 -
17097.74 795.65 6.79 1813 17101.81 VBD 1.57 - - 2871.00 - - - 2275.00 - 77.86 - - 2556.81 - - - - - - - - - - -
17408.07 774.89 6.51 1844 17429.67 1.66 0.29 0.070 2929.50 201.7 3.03 0.078 1143.62 -373.4 77.86 - - 2557.88 - - - - - - - - 16.01 15.98 -
17505.15 766.76 8.68 1860 17524.03 done 1.66 - - 2930.75 - 2.83 0.033 2274.81 399.7 77.86 - - 2557.53 - - - - - - - - - 16.05 -
17829.88 741.57 7.63 1892 17833.95 VBD 1.66 - - 2930.50 - - - 2274.50 - 77.86 - - 2556.50 - - - - - - - - - - -
18140.33 717.93 7.34 1923 18158.89 done 1.70 - - 2931.31 - 3.09 0.097 3353.06 349.0 77.86 - - 2555.38 - - - - - - - - - 16.04 -
18209.37 711.86 8.69 1934 18227.67 done 1.70 - - 2930.81 - 2.69 0.024 2201.75 -428.0 77.86 - - 2558.22 - - - - - - - - - 16.03 -
18533.64 686.78 7.95 1966 18551.40 done 1.70 - - 2930.25 - 2.82 0.081 1145.31 -374.6 77.86 - - 2557.38 - - - - - - - - - 16.06 -
18697.64 672.86 8.83 1996 18715.40 done 1.70 - - 2930.31 - 2.81 0.033 2273.19 401.4 77.86 - - 2556.88 - - - - - - - - - 16.07 -
19021.24 646.41 8.06 2028 19025.30 VBD 1.70 - - 2930.06 - - - 2273.75 - 77.86 - - 2555.47 - - - - - - - - - - -
19331.28 621.55 8.10 2059 19349.84 done 1.70 - - 2930.38 - 3.10 0.097 3352.50 348.0 77.86 - - 2558.69 - - - - - - - - - 16.05 -
19486.06 607.71 9.07 2087 19503.41 done 1.70 - - 2929.50 - 2.71 0.024 2203.69 -423.9 77.86 - - 2557.94 - - - - - - - - - 16.06 -
19809.67 584.89 6.70 2119 19827.81 done 1.78 - - 2930.44 - 2.83 0.080 1143.88 -374.5 77.86 - - 2556.41 - - - - - - - - - 16.04 -
19914.42 577.08 7.21 2137 19933.41 1.83 0.19 0.086 2972.12 219.4 2.82 0.033 2274.06 400.8 77.86 - - 2556.50 - - - - - - - - 15.95 16.07 -
20239.91 556.11 6.37 2169 20243.97 VBD 1.93 - - 2974.38 - - - 2274.38 - 77.86 - - 2554.81 - - - - - - - - - - -
20550.33 534.76 6.79 2200 20555.30 2.01 0.14 0.097 3014.62 287.4 - - 2274.38 - 77.86 - - 2555.06 - - - - - - - - 16.03 - -
20861.54 511.90 7.29 2231 20880.11 done 2.06 - - 3015.19 - 3.01 0.076 1143.19 -375.8 77.86 - - 2554.50 - - - - - - - - - 16.05 -
20996.35 500.10 8.92 2255 21014.10 done 2.06 - - 3014.50 - 2.82 0.033 2273.75 400.9 77.86 - - 2557.41 - - - - - - - - - 16.08 -
21319.94 473.27 7.99 2287 21324.00 VBD 2.06 - - 3014.19 - - - 2273.88 - 77.86 - - 2554.75 - - - - - - - - - - -
21630.35 449.72 7.49 2318 21648.92 done 2.09 - - 3015.19 - 3.03 0.075 1144.50 -372.7 77.86 - - 2553.94 - - - - - - - - - 16.03 -
21805.69 437.01 7.45 2350 21823.45 done 2.12 - - 3015.38 - 2.82 0.033 2273.62 400.4 77.86 - - 2555.50 - - - - - - - - - 16.05 -
22129.70 416.08 6.53 2382 22134.17 2.22 - - 3014.94 - - - 2273.81 - 77.86 - - 2554.97 - - - - - - - - - - -
22440.39 395.23 6.60 2413 22459.17 2.30 - - 3015.44 - 3.10 0.095 3352.06 347.8 77.86 - - 2553.97 - - - - - - - - - 15.93 -
22550.23 387.21 7.17 2432 22568.30 2.35 - - 3014.62 - 2.68 0.023 2199.81 -429.9 77.86 - - 2555.50 - - - - - - - - - 16.05 -
22874.56 368.62 5.89 2464 22892.72 2.48 - - 3014.81 - 2.82 0.079 1144.38 -374.3 77.86 - - 2555.97 - - - - - - - - - 16.04 -
22993.60 360.67 6.77 2485 23011.71 2.56 - - 3014.19 - 2.80 0.032 2275.00 403.8 77.86 - - 2557.31 - - - - - - - - - 16.05 -
23317.95 341.66 5.78 2517 23336.61 2.70 - - 3014.31 - 3.02 0.074 1144.00 -374.5 77.86 - - 2555.31 - - - - - - - - - 16.04 -
23473.24 332.34 5.74 2545 23491.01 2.84 - - 3015.56 - 2.82 0.032 2275.38 401.2 77.86 - - 2556.00 - - - - - - - - - 16.06 -
23797.27 313.12 6.15 2577 23801.34 2.95 - - 3015.12 - - - 2274.81 - 77.86 - - 2554.88 - - - - - - - - - - -
24107.59 295.12 5.73 2608 24126.17 3.09 - - 3014.38 - 3.03 0.074 1142.75 -373.6 77.86 - - 2557.91 - - - - - - - - - 16.03 -
24157.06 292.16 5.71 2615 24175.80 3.23 - - 3015.31 - 2.81 0.031 2276.19 403.4 77.86 - - 2556.00 - - - - - - - - - 16.05 -
24482.16 276.85 4.58 2647 24579.64 3.37 - - 3015.00 - 3.07 0.077 1144.12 -368.8 149.51 55.63 1.626 2279.19 -5.0 0.140 - - - - - - - 15.76 11.76
24715.13 255.06 10.69 2686 24734.04 roll back 3.37 - - 3015.38 - 2.86 0.033 2272.81 394.6 149.51 - - 2272.69 - - - - - - - - - 15.88 -
25039.98 220.64 11.05 2718 25058.55 3.37 - - 3014.75 - 3.02 0.074 1142.50 -374.3 149.51 - - 2269.88 - - - - - - - - - 15.86 -
25104.75 212.97 11.83 2728 25122.52 3.37 - - 3014.62 - 2.86 0.032 2272.44 395.1 149.51 - - 2268.38 - - - - - - - - - 15.94 -
25428.36 180.34 9.10 2760 25447.35 3.37 - - 3014.00 - 3.13 0.094 3350.88 344.5 149.51 - - 2268.28 - - - - - - - - - 15.84 -
25493.56 173.85 10.34 2770 25510.92 3.37 - - 3015.50 - 2.72 0.023 2201.56 -422.5 149.51 - - 2269.00 - - - - - - - - - 15.94 -
25816.77 144.97 8.72 2802 25834.93 3.37 - - 3015.38 - 2.83 0.077 1144.12 -373.7 149.51 - - 2268.16 - - - - - - - - - 15.90 -
25921.27 135.43 8.88 2820 25939.44 3.37 - - 3014.75 - 2.82 0.031 2275.06 401.0 149.51 - - 2268.47 - - - - - - - - - 15.89 -
26245.69 111.08 6.21 2852 26249.76 3.48 - - 3014.31 - - - 2275.75 - 149.51 - - 2266.31 - - - - - - - - - - -
26556.01 98.15 3.79 2888 26667.97 3.66 - - 3014.88 - 3.13 0.093 3351.25 343.6 237.60 66.88 1.381 1919.34 -5.2 0.061 - - - - - - - 15.68 12.14
26674.78 91.50 7.70 2903 26693.26 roll back 3.66 - - 3015.25 - 2.74 0.022 2199.69 -420.3 237.60 - - 1915.97 - - - - - - - - - 15.81 -
26879.65 78.23 5.24 2941 26898.13 3.83 - - 3015.06 - 2.82 0.077 1143.00 -374.7 237.60 - - 1910.69 - - - - - - - - - 15.78 -
27079.77 65.23 7.29 2978 27098.91 3.87 - - 3014.75 - 2.83 0.030 2275.38 400.1 237.60 - - 1910.56 - - - - - - - - - 15.89 -
27285.29 51.59 5.94 3016 27292.30 4.00 - - 3015.75 - - - 2275.62 - 237.60 - - 1907.88 - - - - - - - - - - -
27478.56 41.55 5.54 3054 27497.47 4.00 - - 3014.75 - 3.00 0.072 1142.75 -377.6 237.60 - - 1906.88 - - - - - - - - - 15.82 -
27554.08 37.19 5.86 3066 27572.58 4.00 - - 3014.69 - 2.83 0.029 2276.25 400.5 237.60 - - 1907.12 - - - - - - - - - 15.94 -
27758.85 28.62 3.92 3104 27851.57 4.17 - - 3015.06 - - - 2276.06 - 322.93 64.28 1.251 1574.03 -5.2 0.020 - - - - - - - - 12.25
28037.83 16.19 2.66 3154 28177.78 4.39 - - 3015.19 - 3.12 0.072 1144.12 -362.8 434.25 85.05 1.203 1118.75 -5.4 0.012 - - - - - - - 15.56 12.42
28269.52 7.44 5.21 3190 28288.00 roll back 4.39 - - 3015.50 - 2.85 0.027 2275.88 397.1 434.25 - - 1111.84 - - - - - - - - - 15.78 -
28333 end climb: SURFACE_DEPTH_REACHED
28334 begin surface coast
28419 end surface coast: CONTROL_FINISHED_OK
28420 begin surface
SM 1.39 - - - - 181.9 - - 1105.9 - 18.57 0.048 1130.3 60.9 - 0.11 0.096 1081.5 9805.9 -14.511 - - 30.00 15.81 15.85 -